Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain
In order to achieve multi-objective chassis coordination control for 4WID-4WIS (four-wheel independent drive–four-wheel independent steering) electric vehicles, this paper proposes a coordinated control strategy based on the extension dynamic stability domain. The strategy aims to improve trajectory...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/13/2/77 |
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| author | Yiran Qiao Xinbo Chen Dongxiao Yin |
| author_facet | Yiran Qiao Xinbo Chen Dongxiao Yin |
| author_sort | Yiran Qiao |
| collection | DOAJ |
| description | In order to achieve multi-objective chassis coordination control for 4WID-4WIS (four-wheel independent drive–four-wheel independent steering) electric vehicles, this paper proposes a coordinated control strategy based on the extension dynamic stability domain. The strategy aims to improve trajectory tracking performance, handling stability, and economy. Firstly, expert PID and model predictive control (MPC) are used to achieve longitudinal speed tracking and lateral path tracking, respectively. Then, a sliding mode controller is designed to calculate the expected yaw moment based on the desired vehicle states. The extension theory is applied to construct the extension dynamic stability domain, taking into account the linear response characteristics of the vehicle. Different coordinated allocation strategies are devised within various extension domains, providing control targets for direct yaw moment control (DYC) and active rear steering (ARS). Additionally, a compound torque distribution strategy is formulated to optimize driving efficiency and tire adhesion rate, considering the vehicle’s economy and stability requirements. The optimal wheel torque is calculated based on this strategy. Simulation tests using the CarSim/Simulink co-simulation platform are conducted under slalom test and double-lane change to validate the control strategy. The test results demonstrate that the proposed control strategy not only achieves good trajectory tracking performance but also enhances handling stability and economy during driving. |
| first_indexed | 2024-03-07T22:47:19Z |
| format | Article |
| id | doaj.art-256d1d198a8b4803a4c50472bd6a6cf5 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-07T22:47:19Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-256d1d198a8b4803a4c50472bd6a6cf52024-02-23T15:03:10ZengMDPI AGActuators2076-08252024-02-011327710.3390/act13020077Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability DomainYiran Qiao0Xinbo Chen1Dongxiao Yin2School of Automotive Studies, Tongji University, Shanghai 201804, ChinaSchool of Automotive Studies, Tongji University, Shanghai 201804, ChinaTongji Automobile Design and Research Institute Co., Ltd., Shanghai 201804, ChinaIn order to achieve multi-objective chassis coordination control for 4WID-4WIS (four-wheel independent drive–four-wheel independent steering) electric vehicles, this paper proposes a coordinated control strategy based on the extension dynamic stability domain. The strategy aims to improve trajectory tracking performance, handling stability, and economy. Firstly, expert PID and model predictive control (MPC) are used to achieve longitudinal speed tracking and lateral path tracking, respectively. Then, a sliding mode controller is designed to calculate the expected yaw moment based on the desired vehicle states. The extension theory is applied to construct the extension dynamic stability domain, taking into account the linear response characteristics of the vehicle. Different coordinated allocation strategies are devised within various extension domains, providing control targets for direct yaw moment control (DYC) and active rear steering (ARS). Additionally, a compound torque distribution strategy is formulated to optimize driving efficiency and tire adhesion rate, considering the vehicle’s economy and stability requirements. The optimal wheel torque is calculated based on this strategy. Simulation tests using the CarSim/Simulink co-simulation platform are conducted under slalom test and double-lane change to validate the control strategy. The test results demonstrate that the proposed control strategy not only achieves good trajectory tracking performance but also enhances handling stability and economy during driving.https://www.mdpi.com/2076-0825/13/2/774WID-4WIS EVsdirect yaw moment control (DYC)active rear steering (ARS)multi-objective coordinated controlextension dynamic stability domain |
| spellingShingle | Yiran Qiao Xinbo Chen Dongxiao Yin Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain Actuators 4WID-4WIS EVs direct yaw moment control (DYC) active rear steering (ARS) multi-objective coordinated control extension dynamic stability domain |
| title | Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain |
| title_full | Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain |
| title_fullStr | Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain |
| title_full_unstemmed | Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain |
| title_short | Coordinated Control for the Trajectory Tracking of Four-Wheel Independent Drive–Four-Wheel Independent Steering Electric Vehicles Based on the Extension Dynamic Stability Domain |
| title_sort | coordinated control for the trajectory tracking of four wheel independent drive four wheel independent steering electric vehicles based on the extension dynamic stability domain |
| topic | 4WID-4WIS EVs direct yaw moment control (DYC) active rear steering (ARS) multi-objective coordinated control extension dynamic stability domain |
| url | https://www.mdpi.com/2076-0825/13/2/77 |
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